The PAWS is a full function (travel, AHC, oscillation and wire) weld system for making GMAW groove welds. It is designed to be used with Bug-O tracks to weld horizontal and circumferential joints.

Weld power is provided by the Lincoln Electric PowerWave S500 or S350 and are controlled by the PAWS’s process control system.

To facilitate rapid assembly and disassembly and for ease of transport, the PAWS is made up of a number of lightweight modules:

Universal weld carriage

Torch height controller

Oscillator

Wire feeder

Both weld and sequence parameters are set and adjusted at the operator’s pendant. The pendant is attached to the weld carriage by a cable allowing the operator to manage the system at some distance from the process, or it can be mounted directly upon the carriage. The pendant, along with the network of controller components in the PAWS’s distributed control system makes up the process control system.

The semi-automatic MIG and FCAW weld control system is modular in design to optimize weld process control while minimizing operator training. The system provides control of the weld carriage travel and all weld sequence parameters, which are easily set and adjustable from the operator’s pendant.

Weld process control is incorporated via several modules integrated into the weld system. A microprocessor, distributed I/O and master logic PCB are located within the carriage guard while the motion control system is directly integrated into the motor of each axis.

All motorized axes utilize DC high torque stepper motors with integrated motion controllers and micro-stepping drives. Due to the use of these stepper motors and precision circuit design, the PAWS process control system requires no field calibration. The motor only needs to be programmed for the appropriate axis for repair and replacement to be complete.

The travel axis incorporates a two-speed travel jog system that allows for precise torch positioning as well as rapid traverse in order to position the carriage assembly quickly and precisely during both weld and setup modes.

System Specifications

Weight (minus wire spool and torch):

59.6 lbs.

Weight (including wire spool and torch):

71.6 lbs.

Weld Voltage:

Lincoln mode dependent ( up to 41.5 volts)

Weld Current:

Lincoln mode dependent (up to 550 amps)

Wire Speed:

50 – 900 inches per minute, 1 ipm increments

Travel Speed:

1 – 100 inches per minute, 0.1 ipm increments

Oscillator Width:

0 – 100 percentage of motor’s range of motion

Oscillator Speed:

0 – 100 inches per minute, 1 inch increments

Oscillator In Dwell Time:

0 – 2.5 seconds, 0.1 second increments

Oscillator Out Dwell Time:

0 – 2.5 seconds, 0.1 second increments

Oscillator Center In Dwell Time:

0 – 2.5 seconds, 0.1 second increments

Oscillator Center Out Dwell Time:

0 – 2.5 seconds, 0.1 second increments

Pre-purge Time:

0 – 10 seconds, 1 second increments

Post-purge Time:

0 – 10 seconds, 1 second increments

Burn Back Time:

1 – 200 milliseconds, 1 ms increments

System Motions

Travel Axis – This axis is used to move the weld carriage along the track, parallel to the joint to be welded.

Cross Seam – This axis is used to position the weld torch along a line perpendicular to the weld joint. The cross seam axis is used to manually steer the torch during the weld process.

Automatic Height Control – This axis controls the distance between the weld torch tip and the weld surface.

Oscillation – This axis moves the torch assembly across, that is perpendicular to, the weld joint. The oscillation axis is used to automatically weave the torch back and forth during the weld process.

Wire Feeder – The wire feeder delivers wire to the weld torch at the desired rate when welding.